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/*
 * Author: Enrique Fernández
 */

#pragma once


namespace diff_drive_controller
{

  class SpeedLimiter
  {
  public:

    /**
     * \brief Constructor
     * \param [in] has_velocity_limits     if true, applies velocity limits
     * \param [in] has_acceleration_limits if true, applies acceleration limits
     * \param [in] has_jerk_limits         if true, applies jerk limits
     * \param [in] min_velocity Minimum velocity [m/s], usually <= 0
     * \param [in] max_velocity Maximum velocity [m/s], usually >= 0
     * \param [in] min_acceleration Minimum acceleration [m/s^2], usually <= 0
     * \param [in] max_acceleration Maximum acceleration [m/s^2], usually >= 0
     * \param [in] min_jerk Minimum jerk [m/s^3], usually <= 0
     * \param [in] max_jerk Maximum jerk [m/s^3], usually >= 0
     */
    SpeedLimiter(
      bool has_velocity_limits = false,
      bool has_acceleration_limits = false,
      bool has_jerk_limits = false,
      double min_velocity = 0.0,
      double max_velocity = 0.0,
      double min_acceleration = 0.0,
      double max_acceleration = 0.0,
      double min_jerk = 0.0,
      double max_jerk = 0.0
    );

    /**
     * \brief Limit the velocity and acceleration
     * \param [in, out] v  Velocity [m/s]
     * \param [in]      v0 Previous velocity to v  [m/s]
     * \param [in]      v1 Previous velocity to v0 [m/s]
     * \param [in]      dt Time step [s]
     * \return Limiting factor (1.0 if none)
     */
    double limit(double& v, double v0, double v1, double dt);

    /**
     * \brief Limit the velocity
     * \param [in, out] v Velocity [m/s]
     * \return Limiting factor (1.0 if none)
     */
    double limit_velocity(double& v);

    /**
     * \brief Limit the acceleration
     * \param [in, out] v  Velocity [m/s]
     * \param [in]      v0 Previous velocity [m/s]
     * \param [in]      dt Time step [s]
     * \return Limiting factor (1.0 if none)
     */
    double limit_acceleration(double& v, double v0, double dt);

    /**
     * \brief Limit the jerk
     * \param [in, out] v  Velocity [m/s]
     * \param [in]      v0 Previous velocity to v  [m/s]
     * \param [in]      v1 Previous velocity to v0 [m/s]
     * \param [in]      dt Time step [s]
     * \return Limiting factor (1.0 if none)
     * \see http://en.wikipedia.org/wiki/Jerk_%28physics%29#Motion_control
     */
    double limit_jerk(double& v, double v0, double v1, double dt);

  public:
    // Enable/Disable velocity/acceleration/jerk limits:
    bool has_velocity_limits;
    bool has_acceleration_limits;
    bool has_jerk_limits;

    // Velocity limits:
    double min_velocity;
    double max_velocity;

    // Acceleration limits:
    double min_acceleration;
    double max_acceleration;

    // Jerk limits:
    double min_jerk;
    double max_jerk;
  };

} // namespace diff_drive_controller
